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<div class="title">FootSwingTrajectory.h</div>  </div>
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<a href="../../d9/d40/_foot_swing_trajectory_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef CHEETAH_SOFTWARE_FOOTSWINGTRAJECTORY_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define CHEETAH_SOFTWARE_FOOTSWINGTRAJECTORY_H</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="../../da/d2d/class_foot_swing_trajectory.html">   12</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a> {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="../../da/d2d/class_foot_swing_trajectory.html#a691bcb8c5f6151d6e1305c9fabc4e1fa">   14</a></span>&#160;  <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a691bcb8c5f6151d6e1305c9fabc4e1fa">FootSwingTrajectory</a>() {</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">_p0</a>.setZero();</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">_pf</a>.setZero();</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">_p</a>.setZero();</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">_v</a>.setZero();</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">_a</a>.setZero();</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a> = 0;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  }</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../da/d2d/class_foot_swing_trajectory.html#a88b371a6a4c19f474ddda15a5c5f2607">   23</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a88b371a6a4c19f474ddda15a5c5f2607">setInitialPosition</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> p0) {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">_p0</a> = p0;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  }</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="../../da/d2d/class_foot_swing_trajectory.html#a4b2122976e13c7facfad869d7aea6297">   27</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4b2122976e13c7facfad869d7aea6297">setFinalPosition</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> pf) {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">_pf</a> = pf;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  }</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../da/d2d/class_foot_swing_trajectory.html#aa95fc7baab3e68c0724895e558e4bd59">   31</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#aa95fc7baab3e68c0724895e558e4bd59">setHeight</a>(T h) {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a> = h;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  }</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a3c34c869e91d99add45184522a6ec37e">computeSwingTrajectoryBezier</a>(T phase, T swingTime);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="../../da/d2d/class_foot_swing_trajectory.html#a1414ee26c5b7eb04fc6848e78fef0432">   37</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a1414ee26c5b7eb04fc6848e78fef0432">getPosition</a>() {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">_p</a>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  }</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="../../da/d2d/class_foot_swing_trajectory.html#a14fc41b61b779b60355439d796cc7616">   41</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a14fc41b61b779b60355439d796cc7616">getVelocity</a>() {</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">_v</a>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  }</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="../../da/d2d/class_foot_swing_trajectory.html#a25c0e8076ce29ac9a69825e8e67cbe31">   45</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a25c0e8076ce29ac9a69825e8e67cbe31">getAcceleration</a>() {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">_a</a>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  }</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">   50</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">_p0</a>, <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">_pf</a>, <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">_p</a>, <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">_v</a>, <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">_a</a>;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">   51</a></span>&#160;  T <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a>;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;};</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#endif //CHEETAH_SOFTWARE_FOOTSWINGTRAJECTORY_H</span></div><div class="ttc" id="class_foot_swing_trajectory_html_a4511d8e868b83974a482024d32e448a7"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">FootSwingTrajectory::_p0</a></div><div class="ttdeci">Vec3&lt; T &gt; _p0</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a25c0e8076ce29ac9a69825e8e67cbe31"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a25c0e8076ce29ac9a69825e8e67cbe31">FootSwingTrajectory::getAcceleration</a></div><div class="ttdeci">Vec3&lt; T &gt; getAcceleration()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00045">FootSwingTrajectory.h:45</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_ad135d95f7308b99b6a5a4edb201af7e4"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">FootSwingTrajectory::_v</a></div><div class="ttdeci">Vec3&lt; T &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a88b371a6a4c19f474ddda15a5c5f2607"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a88b371a6a4c19f474ddda15a5c5f2607">FootSwingTrajectory::setInitialPosition</a></div><div class="ttdeci">void setInitialPosition(Vec3&lt; T &gt; p0)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00023">FootSwingTrajectory.h:23</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a14fc41b61b779b60355439d796cc7616"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a14fc41b61b779b60355439d796cc7616">FootSwingTrajectory::getVelocity</a></div><div class="ttdeci">Vec3&lt; T &gt; getVelocity()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00041">FootSwingTrajectory.h:41</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a6c6b87353e83c955e2bd61310d333df9"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">FootSwingTrajectory::_pf</a></div><div class="ttdeci">Vec3&lt; T &gt; _pf</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a761b1398ee29bec3e63cf2e91965f733"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">FootSwingTrajectory::_a</a></div><div class="ttdeci">Vec3&lt; T &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a60ba27e3babfec8ce0b2ddd634b43730"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">FootSwingTrajectory::_height</a></div><div class="ttdeci">T _height</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00051">FootSwingTrajectory.h:51</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_ae057dc09e8ddddd9a778d115987df3b9"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">FootSwingTrajectory::_p</a></div><div class="ttdeci">Vec3&lt; T &gt; _p</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a3c34c869e91d99add45184522a6ec37e"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a3c34c869e91d99add45184522a6ec37e">FootSwingTrajectory::computeSwingTrajectoryBezier</a></div><div class="ttdeci">void computeSwingTrajectoryBezier(T phase, T swingTime)</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/dff/_foot_swing_trajectory_8cpp_source.html#l00011">FootSwingTrajectory.cpp:11</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00012">FootSwingTrajectory.h:12</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a1414ee26c5b7eb04fc6848e78fef0432"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a1414ee26c5b7eb04fc6848e78fef0432">FootSwingTrajectory::getPosition</a></div><div class="ttdeci">Vec3&lt; T &gt; getPosition()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00037">FootSwingTrajectory.h:37</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a691bcb8c5f6151d6e1305c9fabc4e1fa"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a691bcb8c5f6151d6e1305c9fabc4e1fa">FootSwingTrajectory::FootSwingTrajectory</a></div><div class="ttdeci">FootSwingTrajectory()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00014">FootSwingTrajectory.h:14</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_aa95fc7baab3e68c0724895e558e4bd59"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#aa95fc7baab3e68c0724895e558e4bd59">FootSwingTrajectory::setHeight</a></div><div class="ttdeci">void setHeight(T h)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00031">FootSwingTrajectory.h:31</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a4b2122976e13c7facfad869d7aea6297"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a4b2122976e13c7facfad869d7aea6297">FootSwingTrajectory::setFinalPosition</a></div><div class="ttdeci">void setFinalPosition(Vec3&lt; T &gt; pf)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00027">FootSwingTrajectory.h:27</a></div></div>
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